JP4915620B2 - Motor drive control device, motor system, and motor built-in roller system - Google Patents

Description

  The present invention relates to a motor drive control device, a motor system, and a motor built-in roller system including the motor drive control device and a motor built-in roller incorporating a motor that can be controlled by the motor drive control device.

Conventionally, a motor built-in roller as disclosed in Patent Document 1 below has been provided. The motor built-in roller is a cylindrical roller body that is rotatably supported and has a motor built in as a power source. Most of these types of motor-equipped rollers and motors are controlled by PWM (Pulse Width Modulation) control, that is, the on-time ratio (duty ratio D) for energizing the motor by a motor drive control device connected to the motor. The rotation speed is adjusted by performing control. Specifically, by adjusting the period T and the duty ratio D in the above-described ratio of the on-time t to the unit period T (D = t / T) serving as a reference for PWM control, the motor built-in roller and the rotation of the motor are adjusted. The speed is adjusted.
Japanese Patent Laid-Open No. 2004-107019

  As described above, when PWM control is performed to control the rotation speed of the motor built-in roller or the motor built in it, the motor built-in in a state where the duty ratio is reduced to reduce the rotation speed. When an external force acts on the roller or motor in the acceleration direction, the rotational speed may not be controlled well. More specifically, in the control device of the prior art, when the roller with a built-in motor or the motor is rotated in the acceleration direction by an external force and the rotation speed exceeds the set speed, the PWM control is performed so that the rotation speed is decreased in the control device. I was supposed to work. However, when the set value of the motor built-in roller or the rotation speed of the motor is small, the ratio of the on-time t to the unit cycle T serving as the reference for PWM control as described above is small. For this reason, even if an attempt is made to brake the motor built-in roller or the motor in this state, the on-time t that can be shortened for the braking is very short, and there is a possibility that the braking cannot be sufficiently performed. In addition, when the external force acting on the motor built-in roller or the motor is large, the acceleration even when the on-time t is set to zero may not be suppressed.

  Further, as described above, the motor built-in roller and the acceleration of the motor cannot be suppressed, and if these rotate with the action of external force, the motor functions as a generator, and the substrate constituting the control device Back electromotive force acts on the components mounted on this, and in some cases, these components may be damaged. Furthermore, if the magnitude of the external force acting on the motor built-in roller and the motor is not constant, the motor built-in roller and the rotational speed of the motor may be unstable.

  Therefore, in order to solve such a problem, the present invention can accurately adjust the rotational speed even if an external force is applied to the motor or the roller with a built-in motor in the direction in which the rotational speed increases, and can prevent the occurrence of back electromotive force. An object of the present invention is to provide a motor drive control device and a motor-integrated roller system including the motor drive control device.

The invention according to claim 1, which is provided to solve the above-described problem, transmits a motor pulse signal by detecting the position of a rotor, a stator having a multiphase drive coil, and a magnetic pole of the rotor. A rotation position detecting means that is connected to a motor, and sequentially switching the energization state of the multi-phase drive coil in accordance with the position of the magnetic pole of the rotor detected by the rotation position detecting means. A motor drive control device capable of adjusting a rotation speed to a set speed, a motor drive unit for controlling energization to a drive coil, a motor pulse recognition unit for recognizing a motor pulse signal transmitted from a rotation position detection unit, A delay pulse generating unit capable of generating a delayed pulse signal whose phase is delayed with respect to the motor pulse signal recognized by the motor pulse recognizing unit; and a speed capable of recognizing the rotational speed of the rotor. And a motor drive unit according to the delay pulse signal generated by the delay pulse generation unit on the condition that the rotation speed of the rotor recognized by the speed recognition unit is recognized to be higher than the set speed. feasible der braking operation for applying a braking force to the rotor by controlling the energization of the drive coil from is, the rotor by the brake force even when the rotation of the rotor is accelerated by the action of an external force The motor drive control device is capable of braking so that the rotation speed of the motor becomes a set speed .

  In the motor drive control device of the present invention, the braking operation is performed on the condition that the rotational speed of the rotor is recognized to be faster than the set speed. When the braking operation is performed, energization to the drive coil is controlled according to the delayed pulse signal whose phase is delayed with respect to the motor pulse signal, and a braking force can be applied to the motor. Therefore, according to the motor drive control device of the present invention, when the set value of the rotation speed of the rotor is low, even if an external force is applied in the direction of accelerating the rotation of the rotor, the rotor is set to a predetermined set speed. Can be braked to rotate.

  According to the motor drive control device of the present invention, the rotational speed of the rotor can be adjusted with high accuracy. Therefore, according to the present invention, the rotational speed of the motor can be stabilized even if the magnitude of the external force acting on the motor varies. In addition, according to the motor drive control device of the present invention, the rotational speed of the rotor can be adjusted with high accuracy, so that it is possible to prevent a problem that the motor functions as a generator even when an external force is applied. Therefore, in the motor drive control device of the present invention, it is possible to prevent the occurrence of problems such as the counter electromotive force acting from the motor side due to the action of external force or the parts being damaged due to the action of the counter electromotive force. Is also possible.

  The motor drive control device according to claim 1 is preferably used for a motor drive unit in which the motor drive unit performs PWM control of energization to the drive coil based on the motor pulse signal or the delay pulse signal. (Claim 2)

  According to a third aspect of the present invention, the phase difference between the motor pulse signal and the delayed pulse signal is adjusted based on the difference between the set speed and the rotor speed. This is a motor drive control device.

  According to such a configuration, a braking force suitable for adjusting the rotation speed of the rotor to the set speed is applied to the rotor, and the rotation speed of the rotor can be adjusted with high accuracy.

  Here, in the motor drive control device of the present invention described above, even when the actual rotational speed of the rotor is faster than the set speed, the difference is very small, and the braking force is applied to the rotor. There is no need to let it work. Assuming such a case, the motor drive control device according to any one of claims 1 to 3 performs the braking operation when the speed of the rotor is higher than the set speed by a predetermined speed or more. It may be characterized (claim 4).

  According to this configuration, the braking operation can be performed only when the rotation speed of the rotor is higher than the set speed by a predetermined speed or more.

  The invention according to claim 5 is characterized in that the phase delay of the delayed pulse signal with respect to the motor pulse signal changes stepwise or continuously every predetermined period after the start of the braking operation. The motor drive control device according to 2.

  Even in such a configuration, a braking force suitable for adjusting the rotation speed of the rotor to the set speed can be applied to the rotor, and the rotation speed of the rotor can be adjusted with high accuracy.

  The invention according to claim 6 has a clock signal generation unit capable of transmitting a clock signal with the number of clocks set based on the difference between the set speed and the speed of the rotor. 6. The delay pulse signal having a phase delayed with respect to the motor pulse signal recognized by the motor pulse recognition unit can be generated based on the clock signal generated by the generation unit. A motor drive control device according to claim 1.

  In the present invention, a clock signal generation unit capable of transmitting a clock signal with the number of clocks set based on the difference between the set speed and the speed of the rotor is provided, and the delay is based on the clock signal generated thereby. A delayed pulse signal is generated in the pulse generator. For this reason, the delayed pulse signal transmitted by the motor drive control device of the present invention reflects the difference between the set speed and the rotor speed and is delayed in phase with respect to the motor pulse signal. Therefore, according to the motor drive control device of the present invention, even when the rotation of the rotor is accelerated by the action of an external force, a braking force suitable for adjusting the rotation speed of the rotor to the set speed is obtained. Acting on the rotor, the rotational speed of the rotor can be adjusted with high accuracy.

  The motor drive according to any one of claims 1 to 6, wherein the clock signal transmission frequency is adjusted based on a difference between the set speed and the rotor speed. It is a control device.

  Also by adopting such a configuration, a braking force suitable for adjusting the rotation speed of the rotor to the set speed can be applied to the rotor, and the rotation speed of the rotor can be adjusted with high accuracy.

  According to the eighth aspect of the present invention, the delay pulse signal is equal to the number of clocks set based on the difference between the set speed and the rotor speed with reference to the timing when the motor pulse signal is recognized by the motor pulse recognition unit. 8. The motor drive control device according to claim 1, wherein the phase is delayed until a clock signal is transmitted.

  Also with this configuration, a braking force suitable for adjusting the rotation speed of the rotor to the set speed can be applied to the rotor based on the difference between the set speed and the rotor speed.

A ninth aspect of the present invention is the motor drive according to any one of the first to eighth aspects, wherein the braking operation is executed on condition that the rotational speed of the rotor is equal to or lower than a predetermined speed. It is a control device.
A tenth aspect of the invention includes a motor and the motor drive control device according to any one of the first to ninth aspects, and the motor drive control device controls the operation of the motor. This is a featured motor system.

  In the motor system of the present invention, the operation of the motor is controlled by the motor drive control device of the present invention described above. Therefore, even if an external force acts in a direction in which the rotational speed of the rotor is faster than the set speed, a braking force acts on the rotor, and the rotor rotational speed is adjusted to the set speed with high accuracy.

According to an eleventh aspect of the present invention, a motor is built in a roller body that is rotatably supported with respect to a support shaft, and the rotational power of the motor is transmitted to the roller body, so that the roller body is fixed to the fixed shaft. A motor having a motor built-in roller that rotates and a motor drive control device according to any one of claims 1 to 9 , wherein operation of the motor is controlled by the motor drive control device. Built-in roller system.

  In the motor built-in roller system of the present invention, the operation of the motor serving as the drive source of the motor built-in roller is controlled by the motor drive control device of the present invention described above. Therefore, according to the present invention, even if an external force is applied to the motor built-in roller in a direction in which the rotation speed of the motor rotor is higher than the set speed, the motor rotor housed in the roller body is applied to the motor rotor. By applying a braking force, braking can be performed so that the rotation speed of the rotor and the roller with a built-in motor becomes a set speed.

  ADVANTAGE OF THE INVENTION According to this invention, the rotational speed of the rotor which comprises the motor accommodated in the roller main body can be adjusted with a sufficient precision. Therefore, according to the present invention, the rotational speed of the motor built-in roller can be stabilized even if the magnitude of the external force acting on the motor built-in roller varies. Further, according to the present invention, the motor functions as a generator even when an external force is applied, and a counter electromotive force acts on the motor drive control device from the motor side, or a part accompanying the action of the counter electromotive force. It is also possible to prevent the occurrence of problems such as damage to the product.

  ADVANTAGE OF THE INVENTION According to this invention, even if external force acts in the direction which rotational speed increases with respect to a motor or a motor built-in roller, a rotational speed can be adjusted accurately and the drive control apparatus for motors which can prevent generation | occurrence | production of a counter electromotive force, In addition, a motor built-in roller system including the motor drive control device can be provided.

  Next, a motor system 1 and a motor drive control device (hereinafter also referred to as a control device 10) according to an embodiment of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the motor system 1 includes a motor 2 and a control device 10.

  The motor 2 includes a rotation position detection means 19 and a rotation shaft 18 including a rotor 15, a stator 16, and a hall element 17, as in a conventionally known brushless motor. The rotor 15 includes a magnet. In the present embodiment, a magnet having a pair of N · S magnetic poles (two poles) is employed as the rotor 15. A rotating shaft 18 is attached to the rotor 15 so as to be integrally rotatable. The stator 16 includes a multiphase (n-phase) drive coil 20. As shown in FIG. 2, in the present embodiment, the stator 16 includes a three-phase drive coil 20 (hereinafter also referred to as drive coils 20U, 20V, and 20W) of U, V, and W.

  The hall element 17 can detect a magnetic pole of the rotor 15 and transmit a pulse signal (hereinafter also referred to as a motor pulse signal), and is provided to detect the rotational position of the rotor 15. In the present embodiment, three Hall elements 17 (hereinafter also referred to as Hall elements 17a to 17c) are arranged at an interval of 120 degrees with respect to the central axis of the rotor 15, and these three Hall elements The rotational position detecting means 19 is formed by 17a to 17c.

  As shown in FIG. 4A, the Hall elements 17a to 17c each independently transmit a motor pulse signal P (hereinafter also referred to as Pa, Pb, and Pc). The motor 2 sequentially energizes the drive coil 20 based on the motor pulse signals Pa, Pb, and Pc transmitted from the hall elements 17a to 17c, so that the rotor 15 and the rotary shaft 18 integrated therewith are obtained. Can be rotated in a predetermined direction, and the rotation of the rotor 15 and the rotating shaft 18 can be braked.

  The control device 10 performs PWM control of the operation of the motor 2. As shown in FIG. 1, the control device 10 includes a motor pulse recognition unit 30, a clock signal generation unit 31, a delay pulse generation unit 32, a motor drive unit 33, a drive pulse generation unit 35, a speed setting unit 36, and a speed comparison unit. 37 is provided. The control device 10 is electrically connected to the motor 2 described above.

  The motor pulse recognition unit 30 is a part that receives a motor pulse signal P (Pa, Pb, Pc) transmitted from the Hall elements 17 a to 17 c provided in the motor 2. The motor pulse signal P received by the motor pulse recognition unit 30 is transmitted toward the delay pulse generation unit 32 and the motor drive unit 33.

  The clock signal generator 31 can transmit a clock signal with a predetermined number of clocks C. The clock signal generated by the clock signal generation unit 31 is transmitted toward the delay pulse generation unit 32. As shown in FIG. 3D, the clock signal generation unit 31 can appropriately adjust the clock number C, that is, the transmission frequency F, and change the clock signal transmission interval.

  The delayed pulse generator 32 is a part that operates when braking the motor 2, and is a pulse signal whose phase is delayed with respect to the motor pulse signal P received from the motor pulse recognition unit 30 (hereinafter also referred to as a delayed pulse signal L). ) Is generated and transmitted. More specifically, when the delay pulse generator 32 detects that the motor pulse signal P is transmitted from the motor 2 side as shown in FIG. 3A, the motor pulse as shown in FIG. A delayed pulse signal L having a phase delayed by an amount corresponding to one pulse of the clock signal transmitted from the clock signal generation unit 31 can be transmitted with the time when the signal P rises as a reference. That is, as shown in FIGS. 4B and 4C, the delay pulse generation unit 32 outputs 1 of the clock signal transmitted from the clock signal generation unit 31 with respect to the motor pulse signal P (Pa, Pb, Pc). A delayed pulse signal L (La, Lb, Lc) having a phase delayed by an amount corresponding to the clock can be transmitted.

  The motor drive unit 33 receives the motor pulse signal P transmitted from the motor pulse recognition unit 30 and the delay pulse signal L transmitted from the delay pulse generation unit 32, and controls energization to the motor 2 based on this. This is a functional part. More specifically, when operating the motor 2, the motor drive unit 33 controls the energization to the drive coil 20 based on the motor pulse signal P received from the motor pulse recognition unit 30, and normally rotates the rotor 15. Driving can be carried out.

  The speed setting unit 36 is a part for setting the rotational speed (set speed) of the rotor 15 of the motor 2. Further, the speed comparison unit 37 recognizes the actual rotation speed of the rotor 15 based on the motor pulse signal transmitted from the motor pulse recognition unit 30, and determines the set speed set by the speed comparison unit 37. Can be compared. That is, the speed comparison unit 37 has a function as speed recognition means for detecting the rotational speed of the rotor 15 and a function as speed comparison means for comparing the set speed and the rotational speed. When the rotation speed of the rotor 15 is higher than a set speed by a certain speed or more, a braking signal is transmitted from the speed comparison unit 37.

  Specifically, when performing normal operation, for example, when the Hall elements 17a to 17c detect that the magnetic poles of the rotor 15 are in the positional relationship as shown in FIG. The energization is controlled so that a current flows from the drive coil 20U side to the drive coil 20W side as indicated by an arrow in the figure. As a result, the drive coil 20W side is excited to the N pole and the drive coil 20U side is excited to the S pole, and the rotor 15 is in the direction indicated by the arrows in FIGS. 5 (a) and 5 (b). It rotates in the counterclockwise direction in the illustrated state. Thereafter, as shown in FIG. 5C, the direction of current flow is switched by the motor drive unit 33 so that current flows from the drive coil 20V side to the drive coil 20W side. As a result, the drive coil 20W side is excited to the N pole and the drive coil 20V side is excited to the S pole, and the rotor 15 follows this, as indicated by arrows in FIGS. 5 (c) and 5 (d). Rotates further counterclockwise.

  Here, in the control device 10 employed in the present embodiment, the rotation speed of the rotor 15 of the motor 2 (hereinafter also referred to as a set speed) set by the speed comparison unit 37 is a predetermined speed (hereinafter referred to as a braking condition). In which the actual rotation speed of the rotor 15 recognized by the speed comparison unit 37 is higher than the set speed by a predetermined speed (hereinafter also referred to as a reference speed). In this case, a braking operation for braking the rotation of the rotor 15 can be performed. More specifically, the speed comparison unit 37 checks whether or not the rotor 15 of the motor 2 is rotating at a speed higher than the reference speed. Specifically, the speed comparison unit 37 counts the number of pulses pc of the motor pulse signal detected within a unit time. On the other hand, the speed comparison unit 37 recognizes the number of pulses ps assumed to be detected when the rotor 15 rotates at the set speed set by the speed setting unit 36. When the difference between the number of pulses ps and pc (pc-ps) is equal to or greater than the predetermined number of pulses, the speed comparison unit 37 confirms that the rotor 15 is rotating at a rotational speed equal to or higher than the reference speed. Is done.

  That is, considering the case where the motor pulse signal is transmitted as shown in FIG. 6A, the number of signals (pulse number pc) of the motor pulse signal detected in the periods A to G in FIG. As shown in FIG. 6B, it is confirmed with a slight delay with respect to each of the periods A to G. Then, the number of pulses ps (ps = 10 in the example of FIG. 6) that is supposed to be detected when the rotor 15 rotates at the set speed set by the speed setting unit 36 is recognized. Then, as shown in FIG. 6D, the difference between the number of pulses ps and pc for each period A to G (pc-ps) is confirmed. When the difference between the confirmed pulse numbers ps and pc is equal to or greater than the predetermined pulse number (ps-pc ≧ 2 in the example shown in FIG. 6), the speed comparison unit 37 causes the rotor 15 to exceed the reference speed. It is confirmed that it is rotating at a rotation speed of.

  When it is confirmed that the rotation speed of the rotor 15 is rotating at a predetermined speed or higher than the set speed as described above, a braking signal is transmitted from the speed comparison unit 37 as shown in FIG. The Thereby, the braking operation is started. When the braking signal is transmitted, the clock signal is transmitted from the clock signal generation unit 31 toward the delay pulse generation unit 32 over a predetermined period from the timing. The clock number C of the clock signal transmitted here is set based on the difference between the actual rotational speed of the rotor 15 and the set speed (hereinafter also simply referred to as speed difference D).

  Specifically, the speed comparison unit 37 recognizes the speed difference D based on the difference between the number of pulses ps and pc (hereinafter also simply referred to as the pulse difference p). When it is recognized that the rotation speed of the rotor 15 is equal to or higher than the reference speed based on the pulse difference p, a braking signal is transmitted from the speed comparison unit to the delayed pulse generation unit 32. Along with this, a delay pulse signal L is transmitted from the delay pulse generator 32 to the motor driver 33 at a predetermined number of clocks C. The clock number C of the delayed pulse signal L transmitted here is changed by adjusting the transmission frequency F of the clock signal based on the pulse difference p described above. As shown in FIG. 6F, the transmission frequency F is switched to the low frequency side as the pulse difference p increases. In the present embodiment, the pulse difference p and the transmission frequency F are set to have an inversely proportional relationship (p × X = constant).

  The motor drive unit 33 brakes the rotation of the rotor 15 based on the delay pulse signal L received from the delay pulse generation unit 32. As a result, the rotation speed of the rotor 15 gradually decreases and eventually decreases to about the set speed (below the reference speed). Specifically, when a braking signal is transmitted from the speed comparison unit 37, a clock signal is transmitted from the clock signal generation unit 31 at the transmission frequency F (clock number C) set as described above.

  The clock signal generated in the clock signal generation unit 31 as described above is transmitted toward the delay pulse generation unit 32. The delay pulse generation unit 32 generates a delay pulse signal L based on the motor pulse signal P received from the motor pulse recognition unit 30 and the clock signal received from the clock signal generation unit 31, toward the motor drive unit 33. send. More specifically, as shown in FIG. 3, when the delay pulse generator 32 receives the motor pulse signal P in the period Tn, it is delayed from the time when this signal rises by an amount corresponding to the clock time tn in the period Tn. Is used as a starting point to generate a delayed pulse signal L that is in an on state for the same period as the period in which the motor pulse signal P is in an on state. When the delay pulse signal L is generated by the delay pulse generation unit 32, it is transmitted toward the motor drive unit 33.

  When the delay pulse signal L is transmitted from the delay pulse generation unit 32 after the braking signal is turned on, the motor drive unit 33 energizes the drive coils 20U, 20V, and 20W based on the delay pulse signal L. Do. That is, after the braking signal is turned on, the drive coil 20U is in a state in which the phase is delayed by an amount corresponding to one clock of the delayed clock signal with respect to the motor pulse signal P recognized by the motor pulse recognition unit 30. , 20V, and 20W are energized. Therefore, when the braking signal is turned on, the rotor 15 of the motor 2 is braked by the amount of phase delay described above. Further, when the braking signal is turned on, the clock time tn becomes longer as the speed difference D between the actual rotational speed of the rotor 15 and the set speed is larger, and the phase delay is increased accordingly. For this reason, the higher the rotational speed of the rotor 15, the stronger the braking force applied to the rotor 15.

  The braking operation described above is continued until the speed difference D detected by the speed comparison unit 37 becomes lower than a predetermined speed after the braking signal is turned on. When the speed difference D becomes small and the rotational speed of the rotor 15 is the same as or approximately equal to the set speed (below the reference speed), the braking operation is terminated and the normal operation is resumed.

  In the control device 10 of the present embodiment, the braking operation is performed on the condition that the rotational speed of the rotor 15 is recognized to be faster than the set speed. When the braking operation is performed, the delay pulse generation unit 32 transmits a delay pulse signal whose phase is delayed with respect to the motor pulse signal. In accordance with the delayed pulse signal, the motor drive unit 33 controls energization to the drive coil. As a result, a braking force acts on the rotor 15, and the rotational speed of the rotor 15 is reduced to the set speed or a reference speed slightly faster than this. Therefore, according to the control device 10 of the present embodiment, if the set value of the rotation speed of the rotor 15 is low, even if an external force is applied in the direction of accelerating the rotation of the rotor 15, the rotor 15 is predetermined. Can be braked to rotate at a set speed.

  In the above embodiment, when the rotor 15 is rotated at a low speed and the rotor 15 is forcibly rotated in the acceleration direction due to the influence of an external force or the like, the rotational speed cannot be accurately adjusted in normal operation. The example in which the braking operation is performed when the set speed is equal to or lower than the predetermined speed is illustrated, but the present invention is not limited to this, and the configuration may be such that the braking operation is performed as necessary regardless of the set speed. Good.

  When the setting speed (braking condition speed) of the rotor 15 which is the execution reference of the braking operation is defined as in the above embodiment, the braking condition speed can be set as appropriate. In the situation where the rotor 15 is rotating at a low speed, considering that it is difficult to brake the acceleration of the rotor 15 due to the action of an external force, the braking condition speed is higher than the maximum rotation speed of the rotor 15. It is desirable to set the speed to about 1% to 10%, and it is even more desirable to set the speed to about 5% or less with respect to the maximum rotation speed.

  In addition, it is desirable to set an execution standard for the braking condition speed according to the acceleration state of the rotor 15 due to the influence of external force. Specifically, when a problem occurs when the rotational speed of the rotor 15 slightly exceeds the set speed, it is necessary to set the braking condition speed in consideration of a speed error with respect to the set speed. More specifically, although depending on the use environment of the motor 2 and the like, if it is assumed that a speed error of about 3% occurs with respect to the set speed, the braking condition speed is set to the maximum rotational speed of the rotor 15. On the other hand, it is preferably set to 3% to 5%, and more preferably set to 3%.

  As described above, according to the control device 10, the rotational speed of the rotor 15 can be adjusted with high accuracy. Therefore, according to the present embodiment, the rotational speed of the rotor 15 can be stabilized even when the magnitude of the external force acting on the motor 2 varies.

  As described above, in the motor system 1, the rotation speed of the rotor 15 can be adjusted with high accuracy. Therefore, the rotor 15 does not rotate with respect to the motor 2 due to the influence of an external force, and the problem that the motor 2 functions as a generator can be prevented. Therefore, in the motor system 1, a problem such that a counter electromotive force acts on the control device 10 and the power source from the motor 2 side due to the action of an external force, or various parts are damaged due to the action of the counter electromotive force. Does not occur.

  As described above, the control device 10 adjusts the transmission frequency F for transmitting the clock signal in the clock signal generator 31 based on the difference between the set speed and the actual rotational speed of the rotor 15 (speed difference D). The phase difference between the delayed pulse signal and the motor pulse signal is adjusted. Therefore, if drive control of the motor 2 is performed by the control device 10, a braking force suitable for adjusting the rotation speed of the rotor 15 to the set speed is applied to the rotor 15, and the rotation speed of the rotor 15 is accurately adjusted. Can be adjusted.

  As described above, in this embodiment, the braking operation is performed when the actual rotational speed of the rotor 15 is higher than the set speed by a predetermined speed or higher, that is, when the speed is higher than the reference speed. If the rotational speed of the rotor 15 is slightly higher than the set speed and is below the reference speed, the braking operation is not performed. However, the present invention is not limited to this, and the braking operation may be performed as long as the actual rotational speed of the rotor 15 is higher than the set speed. According to such a configuration, the rotational speed of the rotor 15 can be adjusted more precisely.

  In the above embodiment, the transmission interval of the clock signal transmitted from the clock signal generator 31 is changed based on the difference between the actual rotational speed of the rotor 15 and the set speed, and the motor is equivalent to one clock. The configuration in which the phase delay of the delayed pulse signal L with respect to the pulse signal P is amplified is illustrated, but the present invention is not limited to this. Specifically, for example, the clock signal generation unit 31 generates a clock signal with a predetermined number of clocks C regardless of the passage of time, and is set based on the difference between the actual rotation speed of the rotor 15 and the set speed. Alternatively, the delayed pulse signal L delayed from the motor pulse signal P by the number of clocks X may be generated.

  The control device 10 shown in the above embodiment adjusts the phase delay of the delayed pulse signal with respect to the motor pulse signal in accordance with the speed difference D confirmed by the speed comparison unit 37, thereby increasing the braking force acting on the motor 2. However, the present invention is not limited to this. Specifically, after starting the braking operation, the phase delay of the delayed pulse signal with respect to the motor pulse signal may change stepwise or continuously every predetermined period.

  More specifically, for example, after the start of the braking operation of the motor 2, the control device 10 steps the phase delay of the delayed pulse signal L generated by the delayed pulse generation unit 32 with respect to the motor pulse signal P every unit time T. Can be increased. In this case, the control device 10 performs a braking operation as follows.

  When an external force acts on the motor 2 and the rotation speed of the rotor 15 becomes higher than the set speed by a predetermined speed or more, a braking signal is transmitted from the speed comparison unit 37 as shown in FIG. In response to this, the clock signal generator 31 transmits a clock signal. Here, as shown in FIG. 6G, the clock signal generation unit 31 has a period corresponding to one clock every predetermined unit time T from the time when the braking signal is transmitted (hereinafter also referred to as clock time). The transmission frequency F (the number of clocks C) is switched so that becomes longer. That is, after the braking signal is turned on, the period T1, T2,..., Tn (n = 1, 2, 3, 4,...) Is obtained every unit time T, and is transmitted during each period Tn. When the clock time for the clock signal is tn (n = 1, 2, 3, 4...), The clock time tn in the period Tn is the clock time t (n−1) in the period T (n−1). ). That is, a relationship of tn> t (n−1) is established.

  The clock signal generated in the clock signal generation unit 31 as described above is transmitted toward the delay pulse generation unit 32. The delay pulse generation unit 32 generates a delay pulse signal L based on the motor pulse signal P received from the motor pulse recognition unit 30 and the clock signal received from the clock signal generation unit 31, toward the motor drive unit 33. send. More specifically, when the delay pulse generator 32 receives the motor pulse signal P in the period Tn, the motor pulse signal starts from the time when the signal is delayed by an amount corresponding to the clock time tn in the period Tn. A delayed pulse signal L that is turned on for the same period as P is turned on is generated. When the delay pulse signal L is generated by the delay pulse generation unit 32, it is transmitted toward the motor drive unit 33.

  When the delay pulse signal L is transmitted from the delay pulse generation unit 32 after the braking signal is turned on, the motor drive unit 33 energizes the drive coils 20U, 20V, and 20W based on the delay pulse signal L. Do. That is, after the braking signal is turned on, the drive coil 20U is in a state in which the phase is delayed by an amount corresponding to one clock of the delayed clock signal with respect to the motor pulse signal P recognized by the motor pulse recognition unit 30. , 20V, and 20W are energized. Therefore, when the braking signal is turned on, the rotor 15 of the motor 2 is braked by the amount of phase delay described above. In addition, after the braking signal is turned on, while the rotational speed of the rotor 15 is equal to or higher than the reference speed, the clock time tn becomes longer per unit time T, and the phase delay is increased accordingly. Therefore, after the braking signal is turned on, the braking force applied to the rotor 15 is increased every time the unit time T elapses. When the braking operation is performed in this manner and the rotational speed of the rotor 15 decreases to the reference speed, the braking operation ends.

  As described above, if the phase delay of the delay pulse signal L generated by the delay pulse generation unit 32 per unit time with respect to the motor pulse signal P is increased step by step for each unit time T, the rotor 15 The applied braking force becomes stronger step by step. Therefore, according to the control device 10 of the present embodiment, the rotational speed of the rotor 15 can be adjusted gently during braking.

  In the above-described modified example, when the braking operation is performed, the phase delay increases step by step for each unit time T. However, the present invention is not limited to this. Specifically, the period in which the phase delay is changed may not be a fixed period (unit time T) but may be continuously changed. In the above-described modification, the phase shift is such that the phase delay changes step by step for each unit time T. However, the phase shift may change continuously. Further, in the above-described modification, the phase shift increases with time, but the phase shift decreases with time, or immediately after the start of braking operation and for a while after the start. Thereafter, the phase shift may be different. Even when the control according to such a form is adopted, the rotational speed of the rotor 15 can be accurately adjusted to a set speed or a speed close thereto.

  In the motor 2 shown in the above embodiment, the rotational position detection means 19 is configured by the Hall elements 17a to 17c, but may be configured by a phototransistor, for example.

  Next, a motor built-in roller system 50 to which the above-described motor system 1 is applied will be described in detail with reference to the drawings. As shown in FIG. 7, the motor built-in roller system 50 includes the motor system 1 described above and the motor built-in roller 60, and both are electrically connected.

  The motor built-in roller 60 can be used as a drive source for a roller conveyor, a winding device or the like. The motor built-in roller 60 includes the motor 2, the roller body 61, the closing member 62, and the support shafts 63 and 65. The roller body 61 is a metal cylinder that is open at both ends, and both ends are closed by a closing member 62. The support shafts 63 and 65 are shaft bodies protruding from the closing members 62 and 62, respectively, and are rotatably attached to the closing members 62 and 62 via bearings 66 and 67.

  As shown in FIG. 2, the motor built-in roller 60 includes a drive unit 80 including a motor 2 and a speed reducer 70 in a roller body 61. The rotating shaft 18 of the motor 2 is supported via bearings 71 and 72. One end side of the rotating shaft 18 of the motor 2 is connected to a speed reducer 70 for reducing the rotational power of the rotor.

  The speed reducer 70 is a speed reducer including a planetary gear train, and reduces the rotational power of the motor 2 propagating through the rotary shaft 18 at a predetermined reduction ratio. The output shaft 73 of the speed reducer 70 is connected to a connecting member 76 fixed inside the roller body 61 so that power can be transmitted. Therefore, when the motor 2 is operated, the speed reducer 70 decelerates and is transmitted to the roller body 61 via the output shaft 73 and the connecting member 76 of the speed reducer 70, and the roller body 61 is rotationally driven.

  The motor 60 is driven and controlled by the control device 10 shown in the above embodiment. Therefore, even if an external force acts in the acceleration direction on the motor built-in roller 60 and the rotor 15 of the motor 2 is accelerated, the motor built-in roller 60 and the motor 2 can be accurately braked to the set speed.

It is a block diagram which shows the structure of the brushless motor system concerning one Embodiment of this invention. It is a schematic diagram which shows the internal structure of the motor employ | adopted in the brushless motor system shown in FIG. (A) is a time chart of a motor pulse signal recognized by the motor pulse recognition unit when the brushless motor shown in FIG. 1 performs a braking operation, and (b) is a time chart of a delay pulse signal generated by the delay pulse generation unit. , (C) is a time chart of the clock signal generated by the clock generation unit. (A) is a time chart of the motor pulse signal recognized by the motor pulse recognition unit during normal operation, and (b) and (c) are the delay pulse signals generated by the delay pulse generation unit at clock times t1 and t2. It is a time chart. (A)-(d) is a schematic diagram which shows the operation state at the time of carrying out normal operation of a brushless motor. (A) is a time chart of a motor pulse signal recognized by the motor pulse recognition unit, (b) is a time chart showing a count value of the motor pulse signal, and (c) is transmitted when the rotor rotates at a set speed. (D) is a time chart showing the difference between the number of pulses of (b) and (c), (e) is a time chart showing a control signal, and (f) and (g) are It is a time chart which shows the transition of the transmission frequency of the clock signal in a clock signal generation part. It is explanatory drawing which shows the roller system with a built-in motor concerning one Example of this invention.

1 Brushless motor system (motor system)
2 Motor 10 Brushless motor drive control device (control device)
DESCRIPTION OF SYMBOLS 15 Rotor 16 Stator 17 Hall element 18 Rotating shaft 19 Rotation position detection means 20 Drive coil 30 Motor pulse recognition part 31 Clock signal generation part 32 Delay pulse generation part 33 Motor drive part 37 Speed comparison part (speed recognition part)
50 Roller system with built-in motor 60 Roller with built-in motor

Claims (11)

The rotational position detecting means connected to a motor having a rotor, a stator having a multiphase drive coil, and a rotational position detecting means capable of detecting a position of a magnetic pole of the rotor and transmitting a motor pulse signal. A motor drive control device capable of adjusting the rotation speed of the rotor to a set speed by sequentially switching the energization state of the multiphase drive coil according to the position of the magnetic pole of the rotor detected by
A motor drive unit for controlling energization to the drive coil;
A motor pulse recognition unit for recognizing a motor pulse signal transmitted from the rotational position detection means;
A delay pulse generation unit capable of generating a delayed pulse signal with a phase delayed with respect to the motor pulse signal recognized by the motor pulse recognition unit;
A speed recognition unit capable of recognizing the rotation speed of the rotor;
On the condition that the rotational speed of the rotor recognized by the speed recognition unit is recognized to be higher than the set speed, energization from the motor drive unit to the drive coil is performed according to the delay pulse signal generated by the delay pulse generation unit. feasible der braking operation for applying a braking force control to the rotor is, the rotational speed is the set speed of the rotor by the brake force even when the rotation of the rotor is accelerated by the action of an external force A drive control device for a motor, characterized in that braking can be performed.   The motor drive control device according to claim 1, wherein the motor drive unit performs PWM control of energization to the drive coil based on the motor pulse signal or the delay pulse signal.   3. The motor drive control device according to claim 1, wherein the phase difference between the motor pulse signal and the delay pulse signal is adjusted based on a difference between the set speed and the rotor speed.   The motor drive control device according to any one of claims 1 to 3, wherein the braking operation is performed when the speed of the rotor is higher than the set speed by a predetermined speed or more.   3. The motor drive control device according to claim 1, wherein the delay of the phase of the delayed pulse signal with respect to the motor pulse signal changes stepwise or continuously every predetermined period after the start of the braking operation. . A clock signal generation unit capable of transmitting a clock signal with the number of clocks set based on the difference between the set speed and the speed of the rotor;
The delay pulse generation unit can generate a delay pulse signal having a phase delayed with respect to the motor pulse signal recognized by the motor pulse recognition unit, based on the clock signal generated by the clock signal generation unit. The motor drive control device according to any one of claims 1 to 5.   The motor drive control device according to any one of claims 1 to 6, wherein the transmission frequency of the clock signal is adjusted based on a difference between the set speed and the speed of the rotor.   The delayed pulse signal is phased until the clock signal is transmitted by the number of clocks set based on the difference between the set speed and the rotor speed with reference to the timing at which the motor pulse signal is recognized by the motor pulse recognition unit. The motor drive control device according to claim 1, wherein the motor drive control device is delayed. The motor drive control device according to any one of claims 1 to 8, wherein the braking operation is executed on condition that the rotation speed of the rotor is equal to or lower than a predetermined speed. A motor,
A motor drive control device according to any one of claims 1 to 9 ,
A motor system characterized in that the operation of the motor is controlled by the motor drive control device. A motor built-in in a roller body rotatably supported with respect to the support shaft, and a motor built-in roller in which the roller body rotates with respect to the fixed shaft by transmitting the rotational power of the motor to the roller body;
A motor drive control device according to any one of claims 1 to 9 ,
The motor built-in roller system, wherein operation of the motor is controlled by the motor drive control device.

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